KR101022999B1 - Cutting machine and method for controlling head moving device of same - Google Patents

Abstract

The cutter ensures the safety of the operator involved in the head movement without lowering the production efficiency. When the cutting head 24 is moved without cutting the cutting material on the table 12, the moving trolley 18 and the cutting head 24 move at a higher speed than when cutting the cutting material. When the moving trolley 18 and the cutting head 24 are moving at a high speed, an operator is present on the table 12, and the operator removes any of the light beams 30 and 44 arranged before and after the transverse amount 20. When cut off, the moving speed is decelerated to a safe low speed, but the cutting operation of the cutting material is not interrupted. Then, when the worker comes closer to the transverse amount 20 and contacts the wire 38 or the bar 50 near the transverse amount 20, the movement of the moving trolley 18 and the cutting head 24 is forcibly stopped. The cutting operation is stopped.

Cutting machine, head shifter

Description

CUTTING MACHINE AND METHOD FOR CONTROLLING HEAD MOVING DEVICE OF SAME

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cutter for cutting a workpiece mounted on a table using a moving cutting head, a cutting machine such as a laser or gas cutting machine or a multifunction machine thereof, and a control method of the head moving device.

In order to improve the throughput of the cutter, when the cutting head is moved without cutting the workpiece, the moving speed is controlled at a higher speed than the moving speed when the cutting head is moved while cutting the workpiece, and the table is cut. Patent Document 1 discloses controlling the moving speed component in the direction at a higher speed than the moving speed component in the long direction. In addition, in order to ensure safety, when the cutting head is moving at a high speed, if a sensor detects that an operator or other obstacle is present near the cutting head, the high speed movement of the cutting head is also forcibly stopped. It is disclosed in 1.

Patent Document 1: International Publication WO 2005/113183 Brochure

DISCLOSURE OF INVENTION

Problems to be Solved by the Invention

In a large cutting machine, while a part of a workpiece is being cut to a cutting head in a part of a table, an operator climbs to another part of the table to carry out operations such as bringing in or taking out another workpiece. . Conventionally, in such a case, if the distance between the head moving device, such as the carriage, the arm, and the moving cart for moving the cutting head or the cutting head is very close, the movement of the head moving device, In short, the movement of the cutting head is forcibly stopped urgently to ensure the safety of the operator.

However, inadvertently approaching the cutting head or the head moving device inadvertently occurs by the operator, and if the cutting operation is interrupted at that time, wasteful time is wasted in order to resume the cutting operation, and the production efficiency is deteriorated.

In addition, there is a demand to further increase the moving speed of the cutting head in order to improve production efficiency. However, when the moving speed is made high, it is necessary to secure such a large stopping distance. Therefore, the detection area of the sensor should be set wider. Therefore, there exists a possibility that the frequency which the interruption | disconnection of the cutting operation mentioned above occurs may increase. In addition, the higher the moving speed, the greater the mechanical burden on the drive system of the head moving device when the emergency stop is performed.

Accordingly, an object of the present invention is to improve the control of the head moving mechanism in the cutter and to contribute both to securing safety and improving production efficiency.

Means to solve the problem

According to a first aspect of the present invention, there is provided a table on which a workpiece is mounted, a cutting head for cutting the workpiece on the table, supporting the cutting head, and moving in a long direction and a short direction of the table, From a head moving device for moving the cutting head relative to the workpiece on the table, a control device for controlling the head moving device, a portion above the table of the head moving device, and the cutting head, And a boundary detector for detecting the presence of an obstacle in a predetermined boundary area disposed by a predetermined distance range, and the control device measures the moving speed of the cutting head when moving the cutting head while cutting the workpiece. The cutting is controlled at a predetermined cutting movement speed while the cutting is performed without cutting the workpiece. The cutting head in response to a boundary detector when the cutting head is moved without cutting the work piece, and basic control means for controlling the moving speed of the cutting head at a predetermined ball moving speed when the rod is moved. A cutter having a boundary movement control means for slowing down the ball movement speed is provided without stopping the movement of the.

According to this cutting machine, when the worker is working on the table and the head moving device or the cutting head mounted thereon is close to the worker, the operator moves the predetermined distance range from the head moving device or the cutting head. When it is separated by, the moving speed is decelerated while the cutting operation is normally continued. Therefore, safety for an operator can be improved without interrupting a cutting operation.

In addition, in this cutting machine, the ball moving speed can be reduced as described above, so that the ball moving speed in a normal case can be set higher than the conventional one. If the ball movement speed is set high, the production efficiency is improved accordingly.

In a preferred embodiment, the cutter further detects the presence of an obstacle in a part of the head movement device above the table or in a predetermined emergency area located closer to the cutting head than in the boundary area. It is provided. The control device further includes emergency stop control means for forcibly stopping the movement of the cutting head in response to the emergency detector.

According to this cutter, as described above, when the head moving device and the worker are close to a certain distance range, the ball moving speed is reduced, and then the head moving device is urgently stopped when the distance between the worker and the head moving device is further reduced. In this way, the safety of the worker can be reliably ensured by the two-stage movement control of slowing down in the first stage and stopping in the second stage. In addition, since the moving speed is already decelerated at the time of emergency stop, the stop distance becomes very short (for example, can be substantially zero), thereby increasing safety. Further, by the deceleration of the first step, the frequency at which an emergency stop occurs and the cutting operation is interrupted decreases, and the productivity is improved. In addition, by reducing the frequency of the emergency stop, the stress applied to the head drive device is also reduced, and its life is lengthened.

In a preferred embodiment, the boundary detector has a non-contact sensor and detects the obstacle without contacting the obstacle. The emergency detector also has a contact sensor and detects the obstacle by contacting the obstacle. In this way, it is possible to make the worker aware of the risk if the risk is increased without disturbing the worker's work at the stage of low risk of access.

Further, in a preferred embodiment, the distance between the boundary area and the emergency area is set to a distance equal to or greater than the stopping distance required to stop the cutting head when the cutting head is moving at an idle speed that has not yet been decelerated. It is. In this way, the head moving device can be reliably stopped without fear of colliding with the operator.

Moreover, in a preferable embodiment, the said head moving apparatus extends in the said short direction in the upper direction of the said table, and is mounted in the said long direction, and is mounted in the said long direction, and is mounted on the said horizontal amount, and said said horizontal amount is shortened. Has a carriage that moves in the direction and supports the cutting head. In addition, the boundary detector is disposed in the front of the transverse amount in the long direction by a predetermined distance range from the transverse amount and obstructs the transverse amount front boundary area extending in the short direction over almost the entire length of the transverse amount. A transverse amount front boundary detector which detects the presence of the debris and a rearward distance of the transverse amount in the long direction, and is spaced apart from the transverse amount by a predetermined distance and extends in the short direction over almost the entire length of the transverse amount. It has a transverse rear boundary detector which detects that an obstacle exists in a transverse rear boundary area | region. In addition, the emergency detector is disposed in the transverse amount front emergency area in the transverse direction ahead of the transverse amount in the long direction and is disposed closer to the transverse amount than the transverse amount front boundary area and extends in the short direction over almost the entire length of the transverse amount. The transverse amount front emergency detector which detects that an obstacle exists, and is arrange | positioned near the said transverse amount rather than the said transverse amount rear boundary area | region in the rear of the said transverse amount in the said long picture direction, and the substantially full length of the said transverse amount in the said short direction It has a transverse quantity rear emergency detector which detects that an obstacle exists in the transverse quantity rear emergency area | region extended in the said short direction for the period of time.

By this structure, when the worker is on the table, safety of the worker in the case where the transverse amount over the table of the head moving device moves in the table long direction is ensured.

Moreover, in a preferable embodiment, the said head moving apparatus has the trolley | bogie which moves in the said long direction in the outer side of the said table, The said emergency detector is arrange | positioned in front of the said trolley in the said long direction, and the said in the said short direction A trolley front emergency detector for detecting the presence of an obstacle in the trolley front emergency area that spans almost the entire width of the trolley and a rear side of the trolley in the long direction, and almost the entire trolley in the short direction; It has a bogie rear emergency detector which detects that an obstacle exists in the bogie rear emergency area | region which spans the width.

This structure ensures the safety of the worker when the moving cart of the head moving device moves in the table long direction when the worker is outside the table.

Moreover, in a preferable embodiment, the said trolley | bogie front emergency area | region and the said trolley | bogie rear emergency area | region are respectively arrange | positioned by the space | interval more than the said stop distance to the front and rear in the said elongate direction from the said cart. As a result, the moving cart can be reliably stopped without fear of colliding with the worker.

Further, in the preferred embodiment, the head moving device has a portion for the worker to ride there, and the control device determines whether the worker is in the head moving device, and the worker is in the head moving device. When it judges, it has a boarding safety control means which limits the said ball moving speed to low speed, compared with the case where it is determined that an operator is not in the head movement apparatus. As a result, when the worker is in the head moving device, the head moving device moves at a low speed, thereby ensuring safety of the worker.

According to the second aspect of the present invention, there is provided a table on which a workpiece is mounted, a cutting head for cutting the workpiece on the table, supporting the cutting head, and moving in a long direction and a short direction of the table, And a head moving device for moving the cutting head relative to the workpiece on the table, and a cutting device including a control device for controlling the head moving device, wherein the head moving device is controlled. Determining whether there is an obstacle in a portion existing above the table of the apparatus and in a predetermined boundary region disposed a predetermined distance away from the cutting head, and when moving the cutting head while cutting the workpiece. Controlling the moving speed of the cutting head to a predetermined cutting moving speed, and Controlling the moving speed of the cutting head to a predetermined ball moving speed when moving the cutting head without cutting the workpiece, and when the cutting head is moving without cutting the workpiece, the boundary area If it is determined that there is an obstacle, a control method is provided, comprising the step of slowing the ball moving speed while continuing the movement of the cutting head.

In a preferred embodiment, the control method further comprises the step of determining whether an obstacle is present in a portion present above the table of the head moving apparatus or in a predetermined emergency region disposed near the cutting head rather than the boundary region; And if it is determined that an obstacle exists in the emergency area, forcibly stopping the movement of the cutting head. According to this control method, the frequency at which interruption of the cutting operation due to the emergency stop occurs is reduced, and the safety of the worker is improved.

1 is a plan view of a cutting machine according to an embodiment of the present invention.

2 is a block diagram showing the configuration of the control panel 80 and the connection relationship between the control panel 80 and other components.

3 is a plan view illustrating an example of a movement path of the cutting head 4 when cutting out a plurality of products 140, 142, and 144 from the cutting material.

4 is an overall control flowchart executed by the arithmetic processing unit 100.

5 is a flow chart of basic control S3.

6 is a flowchart of boundary movement control S4.

7 is a flowchart of emergency stop control S5.

8 is a flowchart of ride safety control S6.

Carrying out the invention  Best form for

1 is a plan view of a cutting machine according to an embodiment of the present invention.

As shown in FIG. 1, the cutter 10 has the box-shaped table 12 provided in the floor. The upper surface of this table 12 is rectangular, and there exists a rectangular work area | region 14 in which the to-be-cut material (typically steel plate) (not shown) is mounted. In numerical calculation processing for controlling the cutting position of the material to be cut, an X-Y-Z rectangular coordinate system is defined. The direction of the X axis of this XYZ rectangular coordinate system is the long direction (vertical direction in the drawing) of the table 12 (or the work area 14), and the direction of the Y axis is short of the table 12 (or the work area 14). Direction (horizontal direction in the drawing), and the direction of the Z axis is a direction perpendicular to the upper surface of the table 12 (or the plane of the working area 14) (the inner direction in the drawing).

On the floor near the outside of the table 12, the base 16 extended in the long direction (X-axis direction) of the table 12 is provided. On the base 16, a moving trolley 18 is provided, which can move along the base 16 in the X axis direction. The transverse amount 20 is fixed to the moving trolley 18, which extends linearly in the Y-axis direction above the table 12 and spans the table 12 (or the work area 14). When the movement trolley | bogie 18 moves to an X-axis direction, the horizontal amount 20 also moves to an X-axis direction. In the example of the illustration, the transverse amount 20 is a cantilever beam supported by the moving trolley 18 only at one end thereof, which is merely an example and may be a double arm beam supported at both ends.

On the transverse amount 20, a carriage 22 is mounted, which can move along the transverse amount 20 in the Y axis direction. The carriage 22 is equipped with a cutting head 24. The carriage 22 not only moves the cutting head 24 in the Y axis direction, but may also move it in the Z axis direction. Furthermore, the head direction variable for changing (for example, tilting or rotating) the direction of the cutting head 24 at the time of performing improvement processing between the carriage 22 and the cutting head 24. There is a mechanism (not shown). The area 23 indicated by the dashed-dotted line around the carriage 22 is a space area in which the cutting head 24 and the set of head varying mechanisms move about the carriage 22 by the action of the head varying mechanism ( Hereinafter, the "head occupied area" is shown. The cutting head 24 is driven and controlled by the control panel 80 described later. By the way, the cutting head 24 can employ | adopt various kinds of things, such as a plasma torch, a laser torch, a gas burner, and also the combination of the different types of torch or burner mentioned above. In this embodiment, only one cutting head 24 is formed, but a plurality of cutting heads may be formed.

The above-mentioned moving trolley | bogie 18, the horizontal quantity 20, and the carriage 22 comprise the head movement apparatus 25 for moving the cutting head 24 to an X, Y, Z-axis direction. This head moving device 25 can send the cutting head 24 to any position throughout the work area 14. The maximum speed at which this head moving device 25 can move the cutting head 24 in the Y axis direction (ie, the maximum moving speed of the carriage 22) is the maximum speed at which it can move in the X axis direction (that is, Faster than the moving trolley 18). The head moving device 25 is driven and controlled by the control panel 80 described later.

The head moving device 25 includes a plurality of types of detectors for detecting the presence of an operator or other obstacles in the vicinity of the head moving device 25, that is, the transverse front boundary detector 26 and the transverse front emergency detector 34. And a transverse amount rear boundary detector 40, a transverse amount rear emergency detector 46, a bogie front emergency detector 52, and a bogie rear emergency detector 62. The output signals of these detectors 26, 34, 40, 46, 52 and 62 are input to the control panel 80, and the control panel 80 controls the operation of the head moving device 25 based on those input signals. It is supposed to be done.

Here, the two types of detectors 26 and 40 called "boundary detectors" are separated from the horizontal amount 20 which is a portion existing above the table 12 of the head moving device 25 by a predetermined distance range 12. This is for detecting whether there is an obstacle such as a worker in a predetermined space area (hereinafter, referred to as a "boundary area") on the plane. Among them, the transverse amount front boundary detector 26 is located on the side in which the cutting head 24 exists from the transverse amount 20 in the X-axis direction (that is, from the transverse amount 20 in the long direction of the table 12). 1 indicates whether or not an obstacle exists in a predetermined spatial region (hereinafter referred to as "lateral amount front boundary region" in the region corresponding to reference numeral 30 in FIG. 1) spaced by a predetermined distance range in the downward direction in FIG. To detect. In addition, the transverse amount rear boundary detector 40 is a predetermined space area (the area corresponding to the reference numeral 44 in FIG. 1) spaced apart from the transverse amount 20 by the predetermined distance range to the rear of the X axis direction (upward direction in FIG. 1), Hereinafter, it is for detecting whether an obstacle exists in "the horizontal amount rear boundary area".

On the other hand, the four types of detectors 34, 46, 52, and 62 referred to as "emergency detectors" described above are given a predetermined space area very close to the head moving device 25 or the cutting head 24 (hereinafter, "emergency area"). It is for detecting whether there is an obstacle such as a worker. Among these, the transverse quantity front emergency detector 34 is a predetermined space region (area corresponding to reference numeral 38 in FIG. 1) adjacent to the transverse amount 20 in the front in the X-axis direction, hereinafter referred to as "the transverse quantity front emergency region". To detect whether an obstacle exists. In addition, the horizontal quantity rear emergency detector 46 is a predetermined space area | region which is close to the horizontal amount 20 as the rear of an X-axis direction (area corresponding to the reference number 50 in FIG. ) Is to detect whether an obstacle is present. In addition, the trolley | bogie front emergency detector 52 is a predetermined | prescribed space area | region (the area | region corresponding to the reference number 58 in FIG. 1) which approaches the moving trolley 18 in the front of the X-axis direction, Hereinafter, it is called a "bogie front emergency zone." To detect whether an obstacle exists. In addition, the trolley | bogie rear emergency detector 62 is a predetermined space area | region which is close to the moving trolley 18 as the rear of an X-axis direction (area corresponding to the reference number 68 in FIG. To detect whether an obstacle exists.

Here, both of the above-described transverse amount front and rear boundary regions (regions corresponding to the reference numerals 30 and 44) are moved movements of the head moving device 25 (in other words, the cutting head 24) even if an obstacle exists there. Although the risk (the risk of collision with obstacles) is not high enough to stop the movement of the vehicle, there is a risk that it is necessary to be alert so that the movement can be stopped at any time if necessary. Area. On the other hand, the transverse front and rear emergency zones (areas corresponding to reference numerals 38 and 50) and the bogie front and bogie rear emergency zones (areas corresponding to reference numerals 58 and 68) are both moving heads if there were obstacles there. It is an area in which there is a high risk (risk of collision with an obstacle) such that the movement operation of the device 25 (in other words, the movement operation of the cutting head 24) is stopped in place.

Therefore, compared with the horizontal amount front and rear boundary area mentioned above, the horizontal amount front and rear emergency area | region is arrange | positioned in the place closer to the horizontal amount 20. As shown in FIG. Then, the distance 72 between the transverse amount front emergency area (area corresponding to reference number 30) and the transverse amount front boundary area (area corresponding to reference number 38) is determined so that the head moving device 25 is in the X axis direction (table 12 The distance is set equal to or longer than the stopping distance required for complete stop from the state moving at the maximum speed in the long direction). Similarly, the distance 74 between the transverse rear emergency area (region corresponding to reference number 50) and the transverse rear boundary region (region corresponding to reference number 44) is also set to a distance equal to or longer than the stopping distance. It is. Therefore, when an obstacle such as an operator approaches the horizontal amount 20, the obstacle is first detected by the horizontal amount front or rear boundary detector 26 or 40, and thereafter, the distance with the horizontal amount 20 is further increased. It is reduced by the interval 72 or 74 and then detected by the front or rear emergency detector 34 or 46.

The output signals of the above-described boundary detectors 26 and 40 and the emergency detectors 34, 46, 52, and 62 are input to the control panel 80. In the control panel 80, the output signals of the boundary detectors 26 and 40 are used to slow down the moving speed of the head moving device 25 (moving speed of the cutting head 24). On the other hand, the output signals of the emergency detectors 34, 46, 52 and 62 are used for urgently stopping the movement operation of the head moving device 25 (movement operation of the cutting head 24). Therefore, when an obstacle such as an operator approaches the transverse volume 20, the moving speed of the head moving device 25 is decelerated first when the obstacle is detected by the transverse front or rear boundary detector 26 or 40, After that, when the obstacle is detected by the front or rear emergency detector 34 or 46, the movement operation of the head moving device 25 is urgently stopped.

The specific configurations of the above-described boundary detectors 26 and 40 and the emergency detectors 34, 46, 52 and 62 are as follows.

That is, all of these detectors 26, 40, 34, 46, 52, and 62 may be configured by using a non-contact sensor capable of detecting the presence without contacting the obstacle, or by contacting the obstacle. You may be comprised using the contact sensor to detect. However, in this embodiment, the contactless sensors are used for the boundary detectors 26 and 40. That is, the transverse quantity front boundary detector 26 is an optical sensor consisting of a light emitter 28E which emits a light beam 30 and a set of light receivers 28R which receive the light beam 30 from the light emitter 28E and convert it into an electrical signal. to be. The light receiver 28R is mounted on the side wall of the front part of the mobile truck 18. The light emitter 28E is attached to the front end of the arm 32 fixed to the end opposite to the side of the moving carriage 18 of the transverse quantity 20 so that the light beam 30 is transmitted to the light receiver 28R To the target. The spatial region through which the light beam 30 passes from the light emitter 28E to the light receiver 28R corresponds to the above-mentioned transverse amount front boundary region. The transverse rear boundary detector 40 also includes a light sensor 42E that emits a light beam 44 and an optical sensor set of light receivers 42R that receive the light beam 44 from the light emitter 42E and convert it into an electrical signal. to be. The light receiver 42R is mounted on the side wall of the rear of the moving trolley 18. In addition, the light emitter 42E is mounted at the rear end of the arm 32 fixed to the end of the transverse amount 20, and emits the light beam 44 toward the light receiver 42R on the moving trolley 18. The spatial region through which the light beam 44 passes from the light emitter 42E to the light receiver 42R corresponds to the above-described transverse amount rear boundary region.

Therefore, when the worker working on the table 12 enters the horizontal front or rear boundary area, the light beam 30 or 44 is blocked, and the output signal level of the light receiver 28 or 42R changes, so that The presence of an operator can be detected. By using the non-contact sensors for the boundary detectors 26 and 30 in this manner, there is an advantage that no obstacle is impeded to the operator's work on the table 12 at the time of detection.

On the other hand, the contact sensors are used for the emergency detectors 34, 46, 52 and 62 in this embodiment. That is, the wire sensor which detects when an obstacle contacts the wire 38 is used for the transverse forward emergency detector 34. As shown in FIG. The wire 38 is located at a position rearward of the front end of the arm 32 by a predetermined distance from the mounting position of the light emitter 28E described above and the position of the light emitter 28E on the side wall of the front portion of the moving carriage 18. [ 28R) and the position rearward by a predetermined distance from the mounting position. The position of the wire 38 in the X axis direction is slightly ahead of the head occupation area 23. A limit switch 36 for emitting an electrical signal is coupled to an end portion of the bogie 18 side of the wire 38. And when an obstacle contacts the wire 38 and deflects it, the wire 38 pulls the limit switch 36 and turns the limit switch 36 on or off. The space area through which the wire 38 passes corresponds to the above-mentioned transverse amount front emergency area. In addition, a bar sensor is used for the transverse rear emergency detector 46 to detect when an obstacle contacts the bar 50. The bar 50 is mounted in a state capable of approaching the rear face of the transverse amount 20 and spans the entire length of the transverse amount 20 in the Y axis direction. At a position behind the bar 50 on the rear side of the transverse amount 20, a plurality of limit switches 48 and 48 for emitting an electrical signal are mounted and coupled to the bar 50. Then, when the obstacle comes into contact with the bar 50 and pushes it toward the horizontal amount 20, the bar 50 presses the limit switches 48 and 48 to turn on or turn off the limit switches 48 and 48. . The space region through which the bar 50 passes corresponds to the above-mentioned transverse amount rear emergency region.

In addition, the trolley | bogie front emergency detector 52 uses the damper bar sensor which detects when an obstacle contacts the damper bar 58. As shown in FIG. The bar 58 is attached to the front end of the moving trolley 18 via the dampers 56 and 56. A plurality of limit switches 54, 54 for emitting electrical signals are mounted to the moving trolley 18, and those limit switches 54, 54 are coupled to the dampers 56, 56. The bar 58 spans the entire width of the moving trolley 18 in the Y-axis direction, and is usually at a position spaced forward by a predetermined distance 76 from the front surface of the moving trolley 18. The distance 76 is equal to or longer than the stopping distance required for the head moving device 25 to completely stop from the state moving at the maximum speed in the X-axis direction (the long direction of the table 12). Is set to. When an obstacle contacts the bar 58 and pushes it in the direction of the moving trolley 18, the limit switches 54 and 54 are turned on or off. If the bar 58 is kept pressed, the action of the dampers 56 and 56 can retreat until it comes into contact with the moving trolley 18, as indicated by the arrow 60. The space area through which the bar 58 passes corresponds to the above-mentioned trolley front emergency area.

In addition, the trolley | bogie rear emergency detector 62 is also attached to the rear end of the moving trolley | bogie 18 as the same bar sensor with a damper which used the bar 68 above. The bar 68 also spans the entire width of the moving trolley 18 in the Y-axis direction, and is normally positioned rearward from the rear surface of the moving trolley 18 by a predetermined distance 78. The interval 78 is set to a distance equal to or longer than the above-mentioned stop distance. When an obstacle contacts the bar 68 and pushes it in the direction of the moving trolley 18, the limit switches 64 and 64 turn on or off. If the bar 68 continues to be pressed, it can retreat until it contacts the moving trolley 18 as shown by the arrow 70 by the action of the dampers 66 and 66. The space region through which the bar 68 passes corresponds to the trolley rear emergency region described above.

By using the contact sensor for the emergency detectors 34, 46, 52 and 62 in this way, there is an advantage that the operator can be notified of an emergency risk.

By the way, the mobile trolley | bogie 18 is made to be able to carry the worker 84 on it. The control panel 80 for driving and controlling the head moving device 25 and the cutting head 24 in the area on the moving trolley 18 where the worker 84 can be boarded, and the operator 84 manipulates this. An operating panel 82 is provided for inputting a machining program to the control panel 80 or for setting the control panel 80 to a value such as a cutting condition. The outer periphery of the zone on the moving trolley 18 is surrounded by a safety fence (not shown) so that the worker 84 does not accidentally fall off, and in part of the safety fence, a door 86 for the worker 84 to pass through Formed. The place where the door 86 is disposed faces the table 12 in front of the moving trolley 18, in which the light beam 30 of the transverse quantity front boundary detector 26 passes (the transverse quantity front boundary region) and the transverse quantity front. It is a place between the area | region (a transverse direction emergency area | region) through which the wire 38 of the emergency detector 34 passes. Therefore, when the operator gets on the moving trolley 18, the operator must open the door 86 before opening the door 86, and when the operator gets off the moving trolley 18 after the door 86 is opened, the operator must check the lateral amount forward boundary detector 26. ) Will be detected.

The door opening detector 88 which detects whether the door 86 is open or closed is formed in the hinge part of the door 86. As shown in FIG. The output signal of the door opening detector 88 is also input to the control panel 80, where the output signal of the door opening detector 88, in particular, the signal indicating that the door 86 is opened, moves the head moving device 25. It is used to pause the operation (moving operation of the cutting head 24).

Moreover, the drive return switch 90 is formed in the edge part on the opposite side to the moving trolley | bogie 18 side of the horizontal quantity 20. As shown in FIG. The output signal of the operation return switch 90 is also input to the control panel 80, where the output signal of the operation return switch 90 is temporarily stopped by the signal from the door opening detector 88, or described above. It is used to return the movement operation (head movement of the cutting head 24) of the head moving device 25 decelerated by the signal from the boundary detector 26 or 40 to the original normal operation state.

Next, the configuration and control operation of the control panel 80 will be described in detail. 2 shows the configuration of the control panel 80 and the connection relationship between the control panel 80 and other components.

As shown in FIG. 2, the control panel 80 includes an arithmetic processing device 100 and a storage device 102. The arithmetic processing apparatus 100 performs various arithmetic processing for controlling the operation | movement of each part of this cutter 10, and issues a control signal according to a calculation result to each part. The storage device 102 includes programs and data used by the arithmetic processing device 100, for example, a machining program 104, cutting condition data 106, status data 108, and ball movement speed data 110, and the like. This is remembered. The operation panel 82 is connected to the control panel 80, and the operation panel 82 includes an input device 112 and a display device 114. The input device 112 is for the operator to input the above-described machining program 104, cutting condition data 106 and status data 108, and various operation instructions including processing start instructions to the control panel 80. will be. The display device 114 is to provide a graphical user interface of the control panel 80.

The machining program 104 instructs information on nesting and cutting lines of a plurality of products to be cut out of the work piece, that is, which cutting lines are to be carried out according to which product placement and which cutting sequence to cut the products. The processing sequence is described.

The cutting condition data 106 includes various cutting conditions that can be used, such as the thickness and material of the various cutting materials that can be used and the rated power of the various cutting heads 24 that can be used (e.g., plasma torch Data such as the rated plasma current value in the case of, the nozzle diameter, and the rated laser beam power value in the case of a laser torch) are described. By the instruction from the input device 112, a desired cutting condition can be selected from various cutting conditions in the cutting condition data 106.

In the status data 108, various cutting status data corresponding to various cutting conditions which can be used are described. Here, the cutting status is various statuses controlled when cutting the cutting material, and for example, the cutting head 24 is moved while cutting the cutting material (hereinafter, this movement is referred to as "cutting movement"). Movement speed (hereinafter referred to as "cutting speed") or various statuses when the cutting head 24 is driven (plasma current value, gas flow rate in the case of a plasma torch, laser in the case of a laser torch). Data of a plurality of items of the beam power value and the like) are included. Said cutting movement speed is about 1 m / min-about 5 m / min, for example.

Movement speed when moving cutting head 24 (hereinafter, this movement is called "ball movement"), without cutting to ball movement speed data 110 (henceforth "ball movement speed") The component values in the X and Y axis directions are set. The component values in the Y-axis direction and the X-axis direction of the ball movement speed set here are set of velocity component values in the X-axis direction and Y-axis direction for the "high speed state", and the X-axis direction and Y-axis direction for the "low speed state". At least two types of speed component value sets of the speed component value set are included. The velocity component values in the X-axis direction and the Y-axis direction for the "high speed state" are, for example, the maximum moving speed values in the X-axis direction and the Y-axis direction of the head moving device 25 (that is, the moving cart 18 and the carriage ( 22), respectively. On the other hand, the speed component values in the X-axis direction and the Y-axis direction for the "low speed state" are lower than those for the "high speed state", and are speed values that can substantially stop the movement of the head moving device 25 in place. The ball movement speed for the "high speed state" is significantly higher than the cutting movement speed described above, and can be, for example, about 25 m / min to 50 m / min. On the other hand, the ball movement speed for the "low speed state" is equal to the cutting movement speed even if it is between the cutting speed and the ball movement speed for the "high speed state", or at the minimum, for example, it can be about 10 m / min or less.

Here, with reference to FIG. 3, the above-mentioned "cutting movement" and "ball movement" are supplementally demonstrated. 3 shows an example of the movement path of the cutting head 4 when cutting out a plurality of products 140, 142, and 144 from the cutting material.

As shown in FIG. 3, when cutting out the first product 140, the cutting head 24 moves along the predetermined movement path 150 from a predetermined origin (not shown), and the first cutting line 152 ) Is reached at the starting point 154 of cutting. The movement at this time is a ball movement not involving the cutting operation. Thereafter, the cutting head 24 is driven (ignited) and moves from the cutting start point 154 to the cutting end point 156 along the first cutting path 152. The movement at this time is a cutting movement involving a cutting operation. Thereafter, the driving of the cutting head 24 is stopped, and the cutting head 24 moves along the movement path 164 to the cutting start point 162 of the next cutting path 160. The movement at this time is ball movement. Thereafter, the cutting movement along the next cutting path 160, the ball movement along the next moving path 164, and also the cutting movement along the next cutting path 166, and further the next moving path Like the ball movement along 168, the ball movement and the cutting movement are alternately repeated.

The movement speed at the time of ball movement, that is, the ball movement speed, is variable between the "high speed state" and the "low speed state" as described above. And the ball movement speed of a "low speed state" is substantially low enough that a stop distance can stop in place at zero. On the other hand, the cutting movement speed at the time of moving while cutting a to-be-cut material is slower than the ball movement speed of a "low speed state", or it is barely equivalent to it. Thus, from the cutting movement speed, the stopping distance can be stopped in place at zero substantially.

Then, reference is again made to FIG. 2. The arithmetic processing apparatus 100 reads the machining program 104, the cutting status data corresponding to the selected cutting conditions in the status data 108, and the ball movement speed data 110. FIG. The arithmetic processing apparatus 100 drives and controls the head movement apparatus 25 and the cutting head 24 so that a some product may be cut out from a to-be-cut material in order according to the order which the processing program 104 instructs. In the course of this control, the arithmetic processing apparatus 100 principally moves the cutting head 24 at the cutting movement speed specified by the status data 108 when performing the cutting movement described above. When performing the above-described ball movement, the cutting head 24 is moved in the X axis direction and the Y axis direction at the component speed in the X axis direction and Y axis direction for the "high speed state" specified by the ball movement speed data 110. Move it.

In addition, the arithmetic processing apparatus 100 may be configured to include the boundary detectors 26 and 40, the emergency detectors 34, 46, 52 and 62, the door opening detector 88, and the operation return switch 90 in the course of this control. Continuously monitor the output signal. Then, when a signal indicating that an obstacle is detected in any of the boundary regions is input from either of the boundary detectors 26 and 40, the arithmetic processing unit 100 sets the idle speed to the "high speed state" so that "low speed" is obtained. State ". However, also in this case, cutting movement is normally performed at the predetermined cutting movement speed similarly to the above-mentioned principle control. In this way, the cutting head 24 is moved not only at the time of cutting movement but also at the time of ball movement, at a safe low speed that can be stopped in place if necessary. Subsequently, when the operation return instruction is input from the operation return switch 90, the arithmetic processing unit 100 returns the idle speed to the "high speed state" and resumes the above-described principal control.

In addition, when a signal indicating that the door 86 is open from the door opening detector 88 is input, the arithmetic processing apparatus 100 pauses the movement of the cutting head 24. After that, when an operation return instruction is input from the operation return switch 90, the arithmetic processing apparatus 100 cancels the pause and resumes the above-described principal control.

In addition, the arithmetic processing apparatus 100 determines whether or not the operator is riding on the moving trolley 18 based on the signals from the lateral amount front boundary detector 26 and the door opening detector 88. When it is determined that the operator is riding on the moving trolley 18, the arithmetic processing unit 100 detects the boundary detectors 26 and 40 except for the case where the door 86 described above is opened. Similarly, the ball moving speed is limited to that for the "low speed state" to move the cutting head 24 at a safe low speed not only at the time of cutting but also at the time of ball moving. Thereafter, when the operator gets off the moving cart 18 and inputs the operation return instruction from the operation return switch 90, the arithmetic processing unit 100 returns the ball movement speed to the "high speed state", and the above-described principle Resume control.

Further, when a signal indicating that an obstacle is detected in any of the emergency areas is input from any of the emergency detectors 34, 46, 52, and 62, the arithmetic processing unit 100 forcibly controls the control according to the machining program. Quit. As a result, even when either of the cutting movement and the ball movement is performed, the movement of the cutting head 24 is immediately forcibly stopped. In this case, even if an operation return instruction is input from the operation return switch 90 thereafter, the arithmetic processing apparatus 100 does not respond. The operation processing apparatus 100 does not resume the control according to the machining program, unless the operator operates the operation panel 82 and inputs a predetermined instruction.

When an operator working on the table 12 approaches the cutting head 24 or the horizontal amount 20 by such movement control, first, the operator selects which one from the cutting head 24 or the horizontal amount 20. (The light beam 30 or 44 in Fig. 1), the operator is detected and the moving speed of the cutting head 24 and the transverse quantity 20 can be stopped at any time Slow down to safe speed. However, since the cutting of the workpiece by the cutting head 24 is continued, no trouble occurs in this cutting process. In addition, since the detection of the operator is carried out in a non-contact manner, no disturbance is applied to the operator. Then, if the worker is in closer contact with the transverse front or rear emergency area (in Fig. 1, wire 38 or bar 50), the operator is detected again, cutting head 24 and transverse amount ( The movement of 20) is emergency stopped. Since the moving speeds of the cutting head 24 and the transverse amount 20 have already fallen to a safe speed, the cutting head 24 and the transverse amount 20 are stopped in place (i.e. substantially at a stop distance of zero) and the operator Safety is ensured. In addition, since the detection of the operator is carried out in contact, it is possible to make the operator aware of the danger.

In addition, when the worker outside the table 12 is close to the moving truck 18, when the worker contacts the truck front or rear emergency area (bar 58 or 70 in FIG. 1), the worker is detected. The movement of the cutting head 24 and the lateral amount 20 is emergency stopped. When an operator is detected, since the interval beyond the stopping distance is empty between the operator and the moving trolley 18, the moving trolley 18 can be safely stopped. In addition, since the detection of the operator is carried out in contact, it is possible to make the operator aware of the danger.

By the way, in order to control the movement of the cutting head 24 as mentioned above, the arithmetic processing apparatus 100 outputs the speed instruction of the X-axis direction with respect to the movement cart 18, and Y-axis direction with respect to the carriage 22. Outputs the speed command. In the moving trolley | bogie 18, the trolley | bogie drive apparatus 120 moves the moving trolley | bogie 18 to an X-axis direction at the speed according to the speed instruction of an X-axis direction. The bogie displacement detector 122 detects the displacement of the moving trolley 18 in the X axis direction. The arithmetic processing apparatus 100 feeds back the detection signal of the bogie displacement detector 122, calculates the position of the cutting head 24 in the X-axis direction based on this, and based on this, X of the cutting head 24 is based on this. Control the position in the axial direction. In the carriage 22, the carriage drive device 130 moves the carriage 22 in the Y axis direction at a speed corresponding to the speed command in the Y axis direction. The carriage displacement detector 132 detects the displacement of the carriage 22 in the Y axis direction. The arithmetic processing apparatus 100 feeds back the detection signal of the carriage displacement detector 132, calculates the position of the cutting head 24 in the Y-axis direction based on this, and based on this, of the cutting head 24 Controls the position in the Y axis direction.

Further, the arithmetic processing unit 100 outputs a head output control command to the head drive device 134 (for example, a plasma power supply device in the case of a plasma cutting machine, a gas supply valve, and a laser oscillation device in the case of a laser cutting machine). . The head drive device 134 drives the cutting head 24 in accordance with the head output control command.

Hereinafter, the detail of the control which the arithmetic processing apparatus 100 mentioned above performs is demonstrated with reference to FIGS.

4 shows the overall control flow.

As shown in FIG. 4, the arithmetic processing apparatus 100 reads the machining program 104 (step S1). And when the arithmetic processing apparatus 100 receives a process start instruction from the operation panel 82 (S2), basic control S3, boundary movement control S4, emergency stop control S5, and ride safety control S6 will be carried out. Start execution. Here, in the basic control S3, basic control operations of the head moving device 25 and the cutting head 24 for cutting the cutting material faithfully in accordance with the machining program 104 are performed. In boundary movement control S4, when an obstacle is detected in any of the above-described boundary regions, a control operation for decelerating the ball movement speed by the basic control is performed. In the emergency stop control S5, when an obstacle is detected in any of the above-mentioned emergency areas, execution of the machining program by the basic control is forcibly terminated, and the operation of the head moving device 25 and the cutting head 24 is performed. Control operation for emergency stop is performed. In addition, in the riding safety control S6, when the operator is getting on the moving trolley 18, the ball movement speed by the basic control is limited, or when the door 86 is opened, the head moving device by the basic control ( The control for pausing the operation control of 25) is performed.

5 shows the flow of the basic control S3.

As shown in FIG. 5, ball movement of the cutting head 24 is performed, and the cutting head 24 is moved to the predetermined origin on the table 12 (S10). Then, when the cutting instruction of the first cutting path described in the machining program 104 is read (Yes in S11), the ball movement of the cutting head 24 is performed, and the cutting head 24 cuts the cutting path. It is moved to the start position (S12). Thereafter, the cutting head 24 is driven (ignited), and a cutting movement of the cutting head 24 is performed from the cutting start position to the cutting end position along the cutting path (S13). Thereafter, the cutting movement is stopped, and the driving of the cutting head 24 is stopped (digested) (S14). Thereafter, the steps of steps S11 to S14 described above are executed for the next cutting path described in the machining program 104. After the steps S11 to S14 described above are repeated for all the cutting paths described in the machining program 104, the basic control ends.

6 shows the flow of the boundary movement control S4.

The boundary movement control selectively takes two states of "normal state" and "boundary state". As shown in FIG. 6, the boundary movement control is started from a normal state initially (S20). In the normal state, the components in the X-axis direction and the Y-axis direction of the ball moving speed in the basic control are set to the component speed values of the "high speed state" specified by the ball moving speed data 110 (see Fig. 2) (S21). ). Therefore, the ball movement of the cutting head 24 is performed at a much higher speed than the cutting movement.

When the boundary movement control is in a normal state (“normal” in S22), a signal indicating that an obstacle is detected from the horizontal front or rear boundary detectors 26 or 40 (hereinafter, “front boundary signal” or “back boundary signal”). Is inputted (i.e., when an obstacle enters the transverse front or rear boundary area) (Yes in S23 or S24), the component in the X axis direction and the Y axis direction of the ball movement speed in the basic control It changes to the component speed value of the "low speed state" specified by the speed data 110 (refer FIG. 2) (S25), and a boundary movement control state is transitioned to a boundary state (S26). No change is made to the cutting travel speed.

Once the boundary movement control transitions to the boundary state ("boundary" in S22), even if the operation return instruction is not input from the operation return switch 90 (No in S27), even if the front or rear boundary signal is not input, (I.e., even if an obstacle comes out of the transverse front or rear boundary area), the boundary condition continues. Therefore, the head moving device 25 and the cutting head 24 move not only at the time of cutting movement but also at the time of ball movement, at a safe low speed which can be stopped at any time.

When the boundary movement control is in the boundary state ("boundary" in S22), when the operation return instruction is input from the operation return switch 90 (Yes in S27), the ball moving speed is returned to the "high speed state" again (S28). The control state returns to the normal state (S29).

7 shows the flow of the emergency stop control S5.

As shown in FIG. 7, when a signal (hereinafter referred to as an "emergency signal") indicating that an obstacle is detected from any of the emergency detectors 34, 46, 52, or 62 is input (that is, the obstacle is one of Upon entering the emergency area) (Yes in S30), the operation of the head moving device 25, that is, the movement of the cutting head 24 is forcibly stopped (S31), and the driving of the cutting head 24 is forcibly stopped ( S32), and the basic control according to the machining program is forcibly terminated (S33). Thereafter, the basic control is not resumed even if the input of the emergency signal is lost (that is, the obstacle comes out of the emergency area) or the operation return instruction is input, unless the operator inputs a predetermined command from the operation panel 82.

8 shows the flow of the riding safety control S6.

Ride safety control selectively takes two states, "ride state" and "get off state". As shown in FIG. 8, first, the riding safety control is started from the riding state (S40). As shown in FIG. 4, by inputting a process start instruction from the operation panel 82 in the state in which the operator boarded the moving cart 18 (S2 of FIG. 4), basic control S3, boundary movement control S4, This is because the emergency stop control S5 and the ride safety control S6 are started. In the riding state, the components in the X axis direction and the Y axis direction of the ball moving speed in the basic control are set to the component speed values of the "low speed state" specified by the ball moving speed data 110 (see FIG. 2) (S41). . No change is made to the cutting travel speed. Therefore, in the riding state, the head moving device 25 and the cutting head 24 are moved at a safe low speed that can be stopped immediately at any time not only during the cutting movement but also during the ball movement.

When the riding safety control is in the riding state ("ride" in S42), when the door 86 is detected by the door opening detector 88 to open (Yes in S43), the basic control is paused (S44). . The pause of the basic control only stops and waits for the progress of the control of the head moving device 25 and the cutting head 24 according to the machining program at the present stage, and unlike the end of the basic control of step S33 in FIG. Afterwards, basic control can be resumed from the current step. By the pause of the basic control, the movement of the head moving device 25 and the cutting head 24 is paused on the spot.

In this way, when the basic control is paused in step S44 (S44), it is detected that the door 86 is closed by the door opening detector 88 thereafter, and the front boundary signal is detected within a predetermined short time from the detection time. If entered (Yes in S45), this means that the operator got off from the moving cart 18. Therefore, after the operation return instruction is input from the operation return switch 90 (S46), the ride safety control state is transitioned to the disembarkation state (S47), and the pause of the basic control is released and the basic control from the current step is released. Is resumed (S48). When the basic control is resumed by the operation return instruction input in this manner, as described above in step S28 of FIG. 6, the ball moving speed is returned to the "high speed state".

In addition, when the basic control is paused in step S44 as described above, it is detected that the door 86 is closed by the door opening detector 88 thereafter, but the front boundary signal is input within a predetermined short time from the detection time. If not (Yes in S49), this means that the door 86 once opened again was closed, with the operator riding on the moving cart 18. Therefore, in this case, while the riding safety control state is kept in the riding state (i.e., the ball speed is kept in the "low speed state"), the pause of the basic control is released and the basic control is resumed (S48).

After the riding safety control state has transitioned to the getting off state (" getting off " at S42) in the above-described step S47, the front boundary signal is inputted and the door open detector 88 opens the door If it is detected that 86 is opened (Yes in S50), this means that the operator opened the door 86 in proximity to the moving cart 18 from above the table 12. Therefore, in this case, first, the basic control is paused, and the movement of the head moving device 25 and the cutting head 24 is paused on the spot (S51). Then, if it is detected that the door 86 is closed by the door opening detector 88, but if the front boundary signal is not input within a predetermined short time from the detection time point (Yes in S52), this means that the operator can move the truck ( It means that the door 86 is closed by getting on 18). In this case, therefore, the riding safety control state is shifted to the riding state (S53), the moving speed in the basic control is changed to the "low speed state" (S54), and the temporary control is canceled and this is canceled. Resume (S48). In this case, since the ball movement speed is already changed to the "low speed state" in step S25 of FIG. 6 at the step of inputting the front boundary signal, step S54 may be omitted.

On the other hand, after the basic control is paused in step S51, it is detected that the door 86 is closed by the door opening detector 88, and if the front boundary signal is input within a predetermined short time from the detection time point (Yes to S45). This means that after the operator opens the door 86, the door 86 is closed again and exited without getting on the moving cart 18. Therefore, after the operation return instruction is input from the operation return switch 90 (S46), while the riding safety control state is kept in the getting off state (S47), the temporary control is released and the basic control is resumed ( S48). In this case, the ball moving speed remains in the "high speed state".

According to the cutter 10 which concerns on one Embodiment of this invention demonstrated above, when an operator climbs up the table 12 and is working, the head moving device 25 (lateral quantity 20, the cutting head 24, etc.) Is close to the worker, first, when the distance between the head moving device 25 and the worker is still more than the stopping distance, the worker is detected in a non-contact manner, and the speed of the ball movement of the head moving device 25 can stop on the spot. Slow down to safe speed. At this time, the cutting operation continues normally. After that, when the distance between the worker and the head moving device 25 is further reduced, the worker is detected in contact, and the head moving device 25 is emergency stopped. By this two-stage movement control, the frequency at which interruption of the cutting operation due to the emergency stop occurs is reduced, and the safety of the worker is improved. In addition, by decreasing the frequency of the emergency stop, the amount of large stress applied to the head moving device 25 at the time of emergency stopping is reduced, thus extending the life of the head moving device 25.

In addition, since the ball movement speed is decelerated to the "low speed state" by the boundary movement control before the emergency stop, the ball movement speed of the "high speed state" in the normal state does not have the boundary movement control function (that is, emergency It is possible to set higher speed than that of the conventional cutting machine (having only a stop function). That is, the upper limit of the ball moving speed is, for example, about 15 m / min to 25 m / min from the standpoint of securing safety only by the emergency stop function. On the other hand, in the cutter 10 which concerns on the said embodiment, by setting the ball movement speed of a "low speed state" to 10 m / min or less, for example, the upper limit of the ball movement speed of a "high speed state" is set as the conventional 2 while ensuring safety. It can speed up to about double, for example, about 25 m / min-about 50 m / min. In this way, if the speed of ball movement can be increased while ensuring safety, the time ratio of ball movement in the machining time is reduced, and the productivity is improved. For example, according to the conventional cutting machine, there are not many cases in which the ball movement occupies about 30% of the machining time for one cycle of the machining program. In such a case, when the ball movement speed is increased to about twice as mentioned above, roughly speaking, about 15% of the machining time is reduced, that is, productivity is improved by about 15%.

In addition, even when the worker is close to the moving truck 18 when the worker is outside the table 12, when the distance between the moving truck 18 and the worker is still greater than or equal to the stopping distance, the worker is detected in contact and the moving truck 18 is closed. Emergency stop This improves the safety of the operator.

In addition, when the worker is riding the moving trolley 18, the moving trolley 18 moves at a lower speed than when it is not riding. Therefore, the safety of the worker is improved.

As mentioned above, although embodiment of this invention was described, this embodiment is only the illustration for description of this invention, and it is not the meaning which limits the scope of this invention only to this embodiment. This invention can be implemented also in other various aspects, without deviating from the summary.

For example, in the riding safety control shown in FIG. 8, when the operator is riding on the moving trolley 18, the ball movement speed of the "low speed state" and the operator in the boundary movement control shown in FIG. The ball movement speed of the "low speed state" at the time of entering one boundary region does not necessarily need to be the same, and may be a different speed suitable for each purpose. In addition, in the case of the cutter of the type which cannot ride on the moving trolley | bogie 18, of course, riding safety control is unnecessary.

Further, in the riding safety control shown in FIG. 8, a method with higher reliability as a method for judging whether or not an operator is riding, for example, a pressure sensor provided on the floor of the riding zone of the moving carriage 18. You may use the method etc. which were used.

In addition, not only the horizontal amount 20 above the table 12 but also the moving trolley | bogie 18 may perform two steps of movement control using a boundary area and an emergency area.

In addition, various types of detectors can be adopted for various detectors.

Claims (11)

A table 12 on which the workpiece is mounted, A cutting head 24 for cutting the workpiece on the table; A head moving device 25 supporting the cutting head, moving in the long direction and the short direction of the table, and moving the cutting head relative to the workpiece on the table; A control device 80 for controlling the head moving device 25; The boundary detector 26 which detects the presence of an obstacle in a portion existing above the table of the head moving device 25 and the predetermined boundary region arranged away from the cutting head 24 by a predetermined distance range, 40) The control device 80 When the cutting head is moved while cutting the workpiece, the moving speed of the cutting head is controlled at a predetermined cutting movement speed, while the cutting head is moved when the cutting head is moved without cutting the workpiece. Basic control means (S3) for controlling the speed to a predetermined ball moving speed, In the case where the cutting head is moving without cutting the workpiece, in response to the boundary detectors 26 and 40, boundary movement control means for slowing down the ball moving speed without stopping the movement of the cutting head (S4). Cutting machine 10). The method of claim 1, Emergency detectors 34 and 46 for detecting the presence of an obstacle in a portion located above the table of the head moving device 25 or closer to the cutting head 24 than in the boundary region. , 52, 68), The control device 80 And a emergency stop control means (S5) for forcibly stopping the movement of the cutting head in response to the emergency detector (34, 46, 52, 68). The method of claim 1, The boundary detector (26, 40) has a non-contact sensor (28, 42) and detects the obstacle without contacting the obstacle. The method of claim 2, The emergency detector (34, 46, 52, 68) has a contact sensor (36, 48, 54, 64) and detects the obstacle by contacting the obstacle. The method of claim 2, And the distance between the boundary area and the emergency area is a distance greater than or equal to the stopping distance required to stop the cutting head when the cutting head is moving at a ball movement speed that has not yet been decelerated. The method of claim 2, The head moving device 25 A transverse amount 20 extending in the short direction from above the table and moving in the long direction over the table; It is mounted in the said horizontal quantity, has the carriage 22 which moves the said horizontal quantity image to the said short direction, and supports the said cutting head, The boundary detectors 26 and 40 The transverse amount front boundary area | region which is arrange | positioned by the predetermined distance range from the said transverse amount 20 in the front of the said transverse amount 20 in the said long direction, and extends in the said short direction over the full length of the said transverse amount 20. A transverse quantity front boundary detector 26 for detecting that an obstacle exists in the Lateral amount rear boundary area | region which is arrange | positioned apart from the said horizontal amount 20 by the predetermined distance range in the rear of the said horizontal amount 20 in the said long direction, and extends in the said short direction over the full length of the said horizontal amount 20. Has a transverse rear boundary detector 40 for detecting the presence of obstacles in the The emergency detectors 34, 46, 52, 68 A transverse amount disposed in the vicinity of the transverse amount 20 in the front of the transverse amount 20 in the long direction and extending in the short direction over the entire length of the transverse amount 20. Lateral forward emergency detector 34 for detecting the presence of an obstacle in the front emergency area; The transverse amount rearward of the transverse amount 20 in the long direction and disposed in the vicinity of the transverse amount 20 than the transverse amount rear boundary area and extended in the short direction over the entire length of the transverse amount 20. And a transverse rearward emergency detector (46) for detecting the presence of an obstacle in the rearward emergency area. The method according to claim 2 or 6, The head moving device 25 Having a bogie 18 moving in the long direction from the outside of the table, The emergency detectors 34, 46, 52, 68 Balance front emergency detector which detects that an obstacle exists in the trolley | bogie front emergency area | region arrange | positioned in front of the said trolley 18 in the said long direction, and extended in the said short direction over the full width of the said trolley | bogie 18. 52, Balance rear emergency detector which detects that an obstacle exists in the trolley | bogie rear emergency area | region arrange | positioned behind the said trolley | bogie 18 in the said long direction, and extended in the said short direction over the full width of the said trolley | bogie 18. And a cutting machine, characterized in that it has 68. The method of claim 7, wherein The said trolley | bogie front emergency area | region and the said trolley | bogie rear emergency area | region are respectively arrange | positioned and separated by the space | interval more than the said stop distance from the said trolley | bogie (18) to the front and rear in the said elongate direction. The method of claim 1, The head moving device 25 has a part for the operator to ride there, The control device 80 If it is determined whether an operator is in the head moving device and if it is determined that the worker is in the head moving device, the ball moving speed is lowered than if it is determined that the worker is not in the head moving device. A cutter, characterized in that it has limiting boarding safety control means. A table 12 on which the workpiece is mounted, A cutting head 24 for cutting the workpiece on the table; A head moving device 25 supporting the cutting head and moving in the long and short directions of the table to move the cutting head relative to the workpiece on the table; In the method of controlling the said head movement apparatus 25 in the cutter 10 provided with the control apparatus 80 which controls the said head movement apparatus 25, Judging whether or not an obstacle exists in a part of the head moving device 25 located above the table and in the predetermined boundary region disposed away from the cutting head 24 by a predetermined distance range; Controlling the moving speed of the cutting head to a predetermined cutting moving speed when moving the cutting head while cutting the workpiece; Controlling the moving speed of the cutting head to a predetermined ball moving speed when moving the cutting head without cutting the workpiece; If it is determined that there is an obstacle in the boundary area when the cutting head is moved without cutting the workpiece, the control speed is reduced while continuing the movement of the cutting head. Way. 11. The method of claim 10, Determining whether an obstacle is present in a part of the head moving device 25 above the table or in a predetermined emergency area disposed closer to the cutting head 24 than the boundary area; And if it is determined that an obstacle exists in the emergency area, further comprising forcibly stopping the movement of the cutting head.

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